You did "real" camping but I was just looking at your rig and figured your were an old hand. You see that big 5th wheel in my signature? That's the only rig my wife will go "camping" in.
There's nothing wrong with camping in campgrounds, it seems a good number of people here do that instead of boondocking in spite of their overland equipped rigs. In a couple weeks, I'm doing a solo trip up through Yellowstone and on to Glacier. I'll be taking my van and will camp, mostly, in the national park campgrounds. In October, I'll be trying out camping for a couple nights in my Lexus Land Cruiser for a run down to California where I intend to hit Yosemite, Sequoia, and Mono Lake. I'm guessing mostly campgrounds there too. It'll only be a couple nights as I've got some family matters to attend to in SoCal and prefer driving the LLC down there vs. the van.
Anyway, I was simply looking at your rig which is more (to my mind, anyway) an overland type vehicle. The fact you got your wife to camp out of that vs. a self contained travel trailer or similar is impressive!

The short of it is the journey, not where you sleep at night.
On the bathroom thing, I try to use real restrooms whenever I can but carry either the little Porta Potty that came with the van or a Wag bag toilet. I use those sanitary wipes to try to keep clean and a Simple Shower to do a little better job and wash hair. It's different for us guys vs. women, especially as they get a little older.
The rig I owned when I met my wife was a little imported truck with a camper shell and carpet kit. She'd never camped in her life and this was pretty primitive for her. We went backpacking once (I did it regularly). It was a small disaster and the one and only time she ever backpacked. Within a few years, I had a new truck and a self contained Lance camper. She was OK with that and we once did a six month trip in it (in 1992) to look for somewhere else to live other than California. Now, it takes the big fiver to get her to go anywhere other than a hotel and I hate towing so we mostly stick to day trips and I go off a few times a year for a few days to a week in the van. When my boys were younger they were OK with the van but they don't have the camping bug either so they'd prefer a self contained condo on wheels of some sort too.